| 全解耦并联机构的运动学与工作空间分析 |
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| 引用本文： | 沈惠平,马履中,朱小蓉,杨廷力. 全解耦并联机构的运动学与工作空间分析[J]. 农业机械学报, 2005, 36(11): 124-127 |
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| 作者姓名： | 沈惠平 马履中 朱小蓉 杨廷力 |
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| 作者单位： | 江苏工业学院机械系;江苏大学机械工程学院;中国石化金陵石油化工责任有限公司 |
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| 基金项目： | 国家自然科学基金资助项目（项目编号：50275070、50375067）、江苏省自然科学基金资助项目（项目编号：BK2001413）和高等学校博士学科点专项科研基金资助课题（项目编号：20050299002） |
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| 摘 要： | 研究了一种改进型全解耦-平移两转动并联机构,导出了其运动学的正逆解解析式,并用Visual C＋＋6.0编程计算求得数值解,通过Surfacer软件得到并分析了位置工作空间形状及大小;与原机构在运动学正逆解数、解耦性与位置工作空间形状及大小、驱动等方面进行了比较,证实改进型机构比原机构具有更大、更健壮的位置工作空间且不易产生奇异位置.可使该类机型应用范围更广.
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| 关 键 词： | 并联机构 并联机器人 运动学 工作空间 |
| 收稿时间： | 2004-06-12 |
| 修稿时间： | 2004-06-12 |
Analyses of Kinematics and Workspace for a 3-DOF Fully De-coupled Parallel Mechanism |
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| Shen Huiping,Ma Lüzhong,Zhu Xiaorong,Yang Tingli. Analyses of Kinematics and Workspace for a 3-DOF Fully De-coupled Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2005, 36(11): 124-127 |
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| Authors: | Shen Huiping Ma Lüzhong Zhu Xiaorong Yang Tingli |
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| Affiliation: | 1. Jiangsu Polytechnic University ;2. Jiangsu University ; 3. Sinopec Jinling Petrochemical Corporations |
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| Abstract: | An improved fully de-coupled 3-dof parallel mechanisms with one translational and two rational motions was studied. Close-formed solutions were developed for both the forward and inverse kinematics of the parallel mechanism. The workspace shape and the size of the parallel mechanism were analyzed by numerical calculation. Comparisons of the number of kinematic solutions, decoupling, workspace shape and size between the mechanism and the previous one were made, which showed that the re-designed parallel mechanism could be used more vastly because of its robust and large workspace. |
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| Keywords: | Parallel mechanism Parallel robot Kinematics Workspace |
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